Migrate moveit_ros_perception to ROS2

[RoboticsYY]

• [x] Migrate pointcloud_octomap_updater_plugin to ROS2 (#307)
• [x] Migrate depth_image_octomap_updater_plugin to ROS2 (#354)
• [ ] Enable testing (link)
• [ ] Enable private node (link)

[henningkayser]

Closing. Migration is done, remaining test efforts are tracked in https://github.com/ros-planning/moveit2/issues/216